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1 Section Objectives
• Understand the canonical structure of biomedical instrumentation systems.
• Learn the qualitative functions of the four primary system components (sensors, actuators,
electronics interface, computation unit)
• Learn the technical vocabulary associated with instrumentation and design and basic signal
analysis (italicized words and phrases).
• Learn / review the static and dynamic performance characteristics for instrumentation systems.
Even though there is a wide variety of instruments, almost all of them can be modeled using the simple
diagram below.
All biomedical instruments must interface with biological materials (by definition). The interface can by
direct contact or by indirect contact (e.g., induced fields).
In this course we will primarily study sensing systems, which means that the system front-end will
generally be a sensing element. Other than this restriction, we will cover all aspects of typical biomedical
instrumentation systems. We will do them in the following order:
An actuator must:
• deliver external agents via direct or indirect contact
• control biochemical, bioelectrical, or biophysical parameters
• provide a safe interface with biologic materials
Direct/Indirect: The sensing system measure a physiologic parameter directly, such as the average
volume blood flow in an artery, or measures a parameter related to the physiologic parameter of interest
(e.g., ECG recording at the body surface is related to propagation of the action potential in the heart but is
not a measurement of the propagation waveform).
Invasive/Noninvasive: Direct electrical recording of the action potential in nerve fibers using an
implantable electrode system is an example of an invasive sensor. An imaging system measuring blood
flow dynamics in an artery (e.g., ultrasound color flow imaging of the carotid artery) is an example of a
non-invasive sensor.
Contact/Remote: A strain gauge sensor attached to a muscle fiber can record deformations and forces in
the muscle. An MRI or ultrasound imaging system can measure internal deformations and forces without
contacting the tissue.
In nature (including biology), most signals are analog, i.e., they take on continuous values (amplitude and
time) within a particular range.
“Continuous-time” signals exist continually at all times (during a specified time period).
Sampling is the process to convert continuous-time signals to discrete-time signals. Quantizing is the
process that converts continuous (in amplitude) discrete-time signals to digital signals.
Signals in which time is the independent variable are referred to as “time-domain” signals. Likewise,
when frequency is the independent variable, the signals are referred to as “frequency-domain” signals.
Random errors tend to vary in both directions from the true value randomly (or stochasticly). With
properly designed instruments, random errors are generally small relative to the measurand (the physical
signal to be measured). Common sources of random error include electrical noise, interference, vibration,
gain variation of amplifiers, leakage currents, drift, observational error, motion artifact (for contact
sensors), random interfering inputs, etc.
Accuracy
The accuracy of a single measured quantity is the difference between the true value and the measured
value divided by the true value:
True value − measured value
Accuracy =
True value
Accuracy is often quoted as a percentage. Many times, the true value is unknown over all operating
conditions, so the true value is approximated with some standard.
Resolution
The smallest quantity that can be measured with certainty is the resolution. Resolution expresses the
degree to which nearly equal values of a quantity can be discriminated.
Reproducibility
The ability of an instrument to give the same output for equal inputs applied over some period of time is
called reproducibility. Drift is the primary limit on reproducibility.
Sensitivity
Sensitivity describes changes in system output for a given change in a single input. It is quantified by
holding all inputs constant except one. This one input is varied incrementally over the normal operating
range, producing a range of outputs needed to compute the sensitivity.
Sensitivity Drift
Sensitivity drift is the second primary contributor to irreproducibility. It causes error proportional to the
magnitude of the input. These drift parameters are summarized in a typical sensor sensitivity curve below.
Linearity
If
x1 → y1
x2 → y 2
This is the simple expression of the superposition principle for a linear system. There are many ways to
express deviations from linearity for a practical system. For dynamic systems, multitone tests are often
used, where the magnitude of beat frequencies between the individual tone frequencies can quantify the
level of nonlinearity. For static systems, independent nonlinearity measures as shown below are often
used
Dynamic Range
The dynamic range defines the ratio between the maximum undistorted signal (i.e., maximum input signal
satisfying the linearity specification for the sensor) and the minimum detectable signal for a given set of
operating conditions. Often the dynamic range is quoted on a logarithmic scale (i.e., dB scale).
Input Impedance
The instantaneous rate at which energy is transferred by a system (i.e., the power) is proportional to the
product of an effort variable (e.g., voltage, pressure, force) with a flow variable (current, flow, velocity).
The generalized impedance, Z, is the ratio of the phasor equivalent of the steady-state sinusoidal effort
variable to the phasor equivalent of the steady-state flow variable:
~
~ V
Z=~
I
where the tilde denotes phasor variables (i.e., magnitude and phase—a complex number). The phase is
related to the response lag of the system to a sinusoidal input more about this for dynamic systems.
-
Most biomedical instruments must process signals that change with time. The dynamics of the
measurement system, therefore, must be chosen to properly reproduce the dynamics of the physiologic
variables the system is sensing. In this course we will only consider linear, time invariant systems unless
otherwise explicitly noted. For such systems, the dynamics can be fully described by simple differential
equations of the form:
d n y (t ) dy (t ) d m x(t ) dx(t )
an n
+ K + a1 + a 0 y (t ) = bm m
+ K + b1 + b0 x(t )
dt dt dt dt
where x(t) is the input signal (usually the physiologic parameter of interest), y(t) is the output signal
(usually the electronic signal), and the a and b coefficients are constants determined by the physical
characteristics of the sensor system. Most practical sensor front-ends are described by differential
equations of zero, first or second order (i.e., n=0,1,2), and derivatives of the input are usually absent, so
m=0.
Linear, time-invariant systems are characterized by their response to sinusoidal inputs of the form
x(t ) = A sin(ωt ) , where the output, y(t), is a sinusoidal signal of the same frequency, i.e.,
y (t ) = B(ω )sin (ωt + φ (ω )) . This simple characteristic is captured in the system transfer function, defined
BiomedE/EECS 458: Biomedical Instrumentation and Design
Winter, 2002
D. Kipke (revised from M. O’Donnell)
Section 1: 9
as a function of angular frequency ω = 2πf :
~
Y (ω ) bm ( jω ) + K + b1 ( jω ) + b0
m
~
H (ω ) = ~ =
X (ω ) an ( jω )n + K + a1 ( jω ) + a0
~ ~
where j = − 1 j and H (ω ) is written in complex notation, where the magnitude of H (ω ) equals the ratio
~
B (ω ) ~
and the phase of H (ω ) represents the physical phase lag φ (ω ) . Using the transfer function
~
A(ω )
notation, the dynamic response of simple zero-, first-, and second-order systems are briefly outlined
below.
Zero-Order System
A linear potentiometer can be used to measure displacement and represents a simple example of a zero
order system. The differential equation describing its operation is
a0 y (t ) = b0 x(t )
Note that there is no phase lag between output and input at ALL frequencies. This means the step
response is instantaneous, as illustrated below.
First-Order System
If the instrument contains a single energy storage element, the a first-order differential equation describes the system
dynamics,
dy (t )
a1 + a0 y (t ) = b0 x(t )
dt
where K = b0 a0 and τ = a1 a0 . The RC low-pass filter shown below is an example of a first order
system. Note the phase lag is a function of frequency and creates a delayed step response. The system
does not pass frequencies much greater than ω = 1 τ . Consequently, for a first-order sensor system there
BiomedE/EECS 458: Biomedical Instrumentation and Design
Winter, 2002
D. Kipke (revised from M. O’Donnell)
Section 1: 11
should be no significant frequency components in the physiologic input parameter greater than this cutoff
frequency.
A second order system has two levels of energy storage with dynamics described by the differential
equation
d 2 y (t ) dy (t )
a2 2
+ a1 + a0 y (t ) = b0 x(t )
dt dt
0.5
where the static sensitivity is K = b0 a0 , the undamped natural frequency is ω n = 0 and the
a
a2
dimensionless damping ratio is ξ = a1 2 a0 a2 . A mechanical force-measuring system shown below
illustrates the properties of a second order system. Note the step response for underdamped, critically
damped, and overdamped cases. Again, significant components in the input variable must be at
frequencies less than natural frequency of the second-order system. In later sections we will see how the
pre-amp, post-amp, digitization system and digital signal processing system must be matched to the
transfer characteristics of the sensor element.